CAD/CAM Robotics and Factories of the Future
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CAD/CAM Robotics and Factories of the Future

Volume III: Robotics and Plant Automation
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Birendra Prasad
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I: Planning for Automation: Introduction.- The Automated Manufacturing Project: Understanding Management's Concern.- Strategic Planning for the Factory of the Future.- I.1 Automated Systems.- Human Performance in Man-Robot System.- Review of Determining/Optimizing a Robot's Process Capability.- Automated Data Collection Workstation for Inventory Management.- Investigation of Computer-Aided Control of a Waterjet Robotic Workcell.- Automatic Decentralized Allocation of AGVs in a Cellular System.- Implementing a Transition Manager in the AMRF Cell Controller.- II: Automated Assembly: Introduction.- Investigation of Automatic Assembly Methods.- The Interrelationship of Parts Classification and Gripper Design for Automated Assembly.- CARA - The Next Generation.- Pin Assembly by Robot.- Automated Robotic Cell Configuration for Electronics Assembly.- III: Robot Programming and Simulation: Introduction.- ADAR: A New Vision of Tasks Programming for Robotized Industrial Workcell.- Robot Systems Software.- The Simulation of a Manufacturing Cell.- GROSS - Graphic Robot Simulation System.- Kinematic Simulation of Robotic Systems.- Simulation of Compliant Motions with Uncertainty.- IV: Kinematics, Dynamics and Path Planning: Introduction.- A New Departure in Programmable Robotic Manipulators.- Tunnel Following Problem of an Autonomous LHD Vehicle Operating in an Underground Mine.- A Robot Kinematic Gripper.- A Kinematic Study of a Robot and a Dextrous Hand.- Inverse Kinematic Analysis of Moving Base Robot with Redundant Degrees of Freedom.- Real-Time Obstacle Avoidance for Fast Mobile Robots.- Modeling, Trajectory Coordination, Control and Simulation of the Multiarm System.- Dynamic Characteristics of a PUMA 560 Manipulator, and a Complementary Tracking Control Strategy.- Kinematic Model Sensitivity to Geometrical Parameters Errors and its Impact on Robot Precision.- Flexible Manufacturing Using Modular Robotic Wrists.- V: Object Recognition, Imaging and Sensors: Introduction.- 3-D Modeling for Robotic Tactile Object Recognition.- An Imaging Proximity Sensor for Robotic Inspection and Assembly.- A Sensor System for Determining Position and Orientation of Robot Targets.- Learning Shape Features Using a Binary Tree Classifier.- Measurement System for Testing Magnetic Parameters of Thin Amorphous Ribbons and Metrologic Parameters of Displacement Sensor Using Amorphous Ribbons.- An Experimental Autonomous Articulated Robot That can Learn.- Development of 3-D Imaging Systems for Postal Automation.- Mailpiece Manipulation on the Basis of Partial Shape Information.- Singulation of Irregular Objects by Adaptive Robotics and Sparse Range Imagery.- A Multiview Image Acquisition System for Postal Parcels.- VI: Control: Introduction.- Application of Kalman Filters to Assembly Signature Monitoring Using Empirical Process Models.- Autonomous Distributed Control Through Flexible Communications.- Non-Homogenous Redundancy Management for Fault Tolerant Robots.- Reflex-Action Position Control and Two-Arm Load-Sharing Force Control With Adaptive Load Apportioning.- Performance Implications of Rendezvous in the Design of Multi-Task Robotic Systems.- A Microprocessor Based Speed ed Controller and Data Processor for Dynamic Testing of Rotor Blades.- A DSP Microprocessor Based Workstation for Expert Control.- VII: Motion Coordination: Introduction.- Lifting of an Object by Coordination of Two Planar Robots.- Dynamics and Coordination of Multiple Robot Arms Moving a Common Task Object.- Coupling of a Robotic Language with a Supervisor for a Simultaneous Adaptive Control of Two Robots.- VIII: Communication and Networking: Introduction.- Fiber Optic Factory of the Future.- MAP/TOP Functionality from User Perspective.- Robot Support System for Automotive Manufacturing Using MAP Communication Standards.- IX: Factories of the Future - Plant Organization: Introduction.- A Cross-Decomposition Method for Layout Systems and Scheduling Problem.- Extraction of Flowshop T
The complete shop floor automation - a "lights out factory", where workers initially set up all machines, turn off the lights, lock the door and the machine churns up the parts - remains an unfulfilled dream. Yet when we look at the enormity of the process of automation and integration even for the most simply conceived part factory, we can recognize that automation has been applied and is being applied, more so when it made sense from a cost/benefit standpoint. It is our nature to be dissatisfied with near term progress, but when we realize how short a time the tools to do that automation have been available, the progress is clearly noteworthy - considering the multitudes of factors and the environment we have to deal with. Most of the automa tion problems we confront in today's environment are multidisciplinary in nature. They require not just the knowledge and experience in various distinct fields but good cooperation from different disci plined organizations to adequately comprehend and solve such problems. In Volume III we have many examples that reflect the current state of the art techniques of robotics and plant automation. The papers for Volume III have been arranged in a logical order of automation planning, automated assembly, robot programming and simula tion, control, motion coordination, communication and networking to factories of the future.